001package com.stuypulse.robot.commands.auton;
002
003import com.pathplanner.lib.path.PathPlannerPath;
004import com.stuypulse.robot.commands.swerve.SwerveResetPose;
005import com.stuypulse.robot.commands.vision.SetVisionDisabled;
006import com.stuypulse.robot.commands.vision.SetVisionEnabled;
007import com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain;
008import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
009
010public class OutpostOnly extends SequentialCommandGroup {
011
012    public OutpostOnly(PathPlannerPath... paths) {
013        addCommands(new SetVisionDisabled(), new SwerveResetPose(paths[0].getStartingHolonomicPose().get()),
014                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[0]),
015                new SetVisionEnabled());
016    }
017}